L. E. Kavraki, J.-C. Latombe, R. Motwani, and P. Raghavan, “Randomized Query Processing in Robot Path Planning,” in Proceedings of the 27th Annual ACM Symposium on Theory of Computing (STOC), Las Vegas, NV, 1995, pp. 353–362.
Publisher: http://dx.doi.org/10.1145/225058.225159
PDF preprint: http://kavrakilab.org/publications/kavraki-latombe1995randomized-query-processing.pdf